Attitude determination from single camera vector observations

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dc.contributor.authorTsourdos, Antonios
dc.contributor.authorZadovski, V.
dc.contributor.authorSilson, P.
dc.date.accessioned2010-09-17T11:06:08Z
dc.date.available2010-09-17T11:06:08Z
dc.date.copyright(c)2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.
dc.date.issued2010-09-17
dc.descriptionPublished in Intelligent Systems (IS), 2010 5th IEEE International Conference, 7-9 July 2010, 49 - 54. DOI: 10.1109/IS.2010.5548331en_UK
dc.description.abstractAttitude determination is of major importance in Guidance and Control Systems of the Unmanned Aerial Vehicles (lIAVαs). Supplying wrong or imprecise attitude can very often be catastrophic for the UAVαs. Vision sensors are nowadays essential as they provide a rich source of information given as relative measurements between the vehicle navigation parameters (position, velocity and attitude) and the environment. This paper presents a framework for attitude determination from single camera vector observations. We assume a known environment in a form of a map and true vehicle positions from which each observation has been taken. Two different methods for attitude determination are presented: an iterative numerical solution based on Gauss Newton's method and an exact method known as the Davenport q-method. Pros and cons ofthe both solutions are presented.en_UK
dc.identifier.urihttp://dspace.lib.cranfield.ac.uk/handle/1826/4556
dc.language.isoenen_UK
dc.titleAttitude determination from single camera vector observationsen_UK
dc.typeArticleen_UK

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